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silence "obselete setup format" warnings
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@tpoignonec
tpoignonec committed Oct 29, 2023
1 parent 751211c commit d80f9da
Showing 1 changed file with 21 additions and 7 deletions.
28 changes: 21 additions & 7 deletions iiwa_description/ros2_control/iiwa.r2c_hardware.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -140,13 +140,27 @@
</state_interface>
</joint>
<sensor name="${prefix}external_torque_sensor">
<state_interface name="external_torque.joint_a1"/>
<state_interface name="external_torque.joint_a2"/>
<state_interface name="external_torque.joint_a3"/>
<state_interface name="external_torque.joint_a4"/>
<state_interface name="external_torque.joint_a5"/>
<state_interface name="external_torque.joint_a6"/>
<state_interface name="external_torque.joint_a7"/>
<state_interface name="external_torque.joint_a1">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="external_torque.joint_a2">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="external_torque.joint_a3">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="external_torque.joint_a4">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="external_torque.joint_a5">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="external_torque.joint_a6">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="external_torque.joint_a7">
<param name="initial_value">0.0</param>
</state_interface>
</sensor>
</ros2_control>

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